/*
 * @Author: your name
 * @Date: 2021-11-11 17:24:27
 * @LastEditTime: 2021-12-01 19:49:35
 * @LastEditors: Please set LastEditors
 * @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 * @FilePath: /Solver/test.cpp
 */

/*#include "include/dynamics/NonlinearSys.h"
#include "include/dynamics/LinearSys.h"
//#include "include/dynamics/ContDynamics.h"
#include "include/zonotope/Zonotope.h"

#include "src/dynamics/NonlinearSys.cpp"
#include "src/dynamics/LinearSys.cpp"
#include "src/dynamics/ContDynamics.cpp"
#include "src/zonotope/Zonotope.cpp"

#include "src/dynamics/ReachableSet.cpp"
#include "src/dynamics/ReachOptions.cpp"
#include "src/dynamics/TimeRelated.cpp"
#include "src/dynamics/ReachableSetElement.cpp"

#include <iostream>
#include <NLF/NLF.h>
#include <Functions.h>
#include <Constants.h>
#include <Utilities.h>
#include <eigen3/Eigen/Core>
#include <ctime>
//#include <eigen3/Eigen/Dense>
//#include <eigen3/Eigen/StdVector>

using namespace std;
using namespace reachSolver;
//using namespace autodiff
double g = 9.81; 
double m = 1750;
double J = 2500;
double L = 2.7;
double l_F = 1.43;
double l_R = L-l_F;
double h = 0.5;
double mu0 = 1;
double C_F = 10.4*1.3;
double C_R = 21.4*1.1;


static INTERVAL_AUTODIFF bicycle(CONST INTERVAL_AUTODIFF &x, int n){
    INTERVAL_AUTODIFF X = x(1);
    INTERVAL_AUTODIFF Y = x(2);
    INTERVAL_AUTODIFF psi = x(3);
    INTERVAL_AUTODIFF vx = x(4);
    INTERVAL_AUTODIFF vy = x(5);
    INTERVAL_AUTODIFF omega = x(6);
    INTERVAL_AUTODIFF Fb = x(7)*m;
    INTERVAL_AUTODIFF delta = x(8);
    INTERVAL_AUTODIFF Fzf = (l_R*m*g-h*Fb)/(l_R+l_F);
    INTERVAL_AUTODIFF Fzr = m*g - Fzf;
    INTERVAL_AUTODIFF sf = (vy+l_F*omega)/vx-delta;
    INTERVAL_AUTODIFF sr = (vy-l_R*omega)/vx;
    INTERVAL_AUTODIFF Fyf = -C_F * Fzf * sf;
    INTERVAL_AUTODIFF Fyr = -C_R * Fzr * sr;
    INTERVAL_AUTODIFF dvx = Fb/m + vy*omega;
    INTERVAL_AUTODIFF dvy = (Fyf+Fyr)/m - vx*omega;
    INTERVAL_AUTODIFF domega = (l_F*Fyf-l_R*Fyr)/J;
    INTERVAL_AUTODIFF cp = Cos(psi);
    INTERVAL_AUTODIFF sp = Sin(psi);
    /*INTERVAL_AUTODIFF R1(8);
    for(auto j=1;j<=8;j++){
        R1(j) = x(8+j);
    }
    INTERVAL_AUTODIFF R2(8);
    for(auto j=1;j<=8;j++){
        R2(j) = x(16+j);
    }
    INTERVAL_AUTODIFF Xn(8);
    for(auto j=1;j<=8;j++){
        Xn(j) = x(24+j);
    }*/
    /*INTERVAL_AUTODIFF W(2);
    for(auto j=1;j<=2;j++){
        W(j) = x(32+j);
    }*/
    /*INTERVAL_AUTODIFF x2(8);
    for(auto j=1;j<=8;j++){
        x2(j) = x(j);
    }*/
   /* INTERVAL_AUTODIFF v1 = x(33);
    for(auto j=1;j<=8;j++){
        v1 = v1 - x(8+j)*(x(j)-x(24+j));
    }
    INTERVAL_AUTODIFF v2 = x(34);
    for(auto j=1;j<=8;j++){
        v2 = v2 - x(16+j)*(x(j)-x(24+j));
    }
    // differential equation
    switch(n){
        case 1:
            return cp*vx-sp*vy;
        case 2:
            return sp*vx+cp*vy;
        case 3:
            return omega;
        case 4:
            return dvx;
        case 5:
            return dvy;
        case 6:
            return domega;
        case 7:
            return v1;
        case 8:
            return v2;
    }
    return 0.0;
}


FUNCTION FunctionTest (34, 8, bicycle);

int main(){
    NonlinearSys<double> mysys(FunctionTest, 8, 26, 8);
    ReachOptions<double> options;

    //create R0
    Vector_t<double> center(8);
    center << 0.,0.,0.,22.,0.,0.,-2.1854,0.;
    Matrix_t<double> generators(Eigen::MatrixXd::Identity(8,8)*0.05);
    Zonotope<double> R0_(center,generators);

    //create Uvec
    Matrix_t<double> uvec(26,401);
    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    //create U
    Vector_t<double> uc = Eigen::MatrixXd::Zero(26,1);
    Matrix_t<double> ug = Eigen::MatrixXd::Zero(26,26);
    for(auto i = 0;i<5;i++){
        ug(i,i) = 0.05;
    }
    Zonotope<double> U_(uc,ug);

    options.set_time_step(0.01);
    options.set_taylor_terms(5);
    options.set_zonotope_order(200);
    options.set_alg("lin");
    options.set_tensor_order(2);
    options.set_tFinal(4.01);
    options.set_tStart(0);
    options.set_R0(R0_);
    options.set_U(U_);
    options.set_uTrans_Vec(uvec);
    options.set_usekrylovError(1);
    options.set_max_error(DBL_MAX*Eigen::MatrixXd::Ones(8,1));

    //options.set_uTrans_nonlin(0);
    //options.set_usekrylovError(1);
    //options.set_max_error(DBL_MAX*Eigen::MatrixXd::Ones(6,1));


    // ValidateOptions
    
    //ReachableSet<double> params;
    //params.set_t
    //cout<<"1"<<endl;

    ReachableSet<double> R;

    clock_t start, end;
    start = clock();
    mysys.reach(options, R);
    end = clock();
    cout<<"time cost: "<<(double)(end-start)/CLOCKS_PER_SEC<<endl;
    int a[5] = {10,100,200,300};

    //Matrix_t<double> abc;
    //cout<<abc.size()<<endl;
    //cout<<R.Rtime_point().set().size()<<endl;
    for(auto i =0;i<4;i++){
        cout<<a[i]<<endl;
        cout<<R.Rtime_point().set()[a[i]][0].rs().center()<<endl;
        cout<<"Genertors:"<<"Number "<<R.Rtime_point().set()[a[i]][0].rs().generators().cols()<<endl;
    }

    //cout<<R.Rtime_point().set()[0][0].rs()<<endl;

    
    /*INTERVAL_VECTOR x(34);
    for(auto i=0; i<34; i++)
    {
        x.theElements[i].inf = (double)(i*1.1);
        x.theElements[i].sup = (double)(i*2.1);
    }
    //x.theElements[6] = 2.0;
    cout<<x<<endl;
    cout<<VectorFunction(FunctionTest,x)<<endl;*/
    

   /* clock_t start, end;
    start = clock();
    mysys.reach(options, R);
    end = clock();
    cout<<"time cost: "<<(double)(end-start)/CLOCKS_PER_SEC<<endl;
    int a[5] = {10,100,200,300};
    //cout<<R.Rtime_point().set().size()<<endl;
    for(auto i =0;i<4;i++){
        cout<<a[i]<<endl;
        cout<<R.Rtime_point().set()[a[i]][0].rs()<<endl;
    }*/






    /*
    IntervalMatrix m1;
    IntervalMatrix m2;
    IntervalMatrix MA1;
    IntervalMatrix MA2;
    Matrix_t<double> m1sup(6,1);
    m1.sup = m1sup;
    Matrix_t<double> m1inf(6,1);
    m1.inf = m1inf;
    m1.inf<<1.,2.,3.,4.,5.,6.;
    m1.sup<<1.,2.,3.,4.,5.,6.;
    Matrix_t<double> m2sup(1,1);
    m2.sup = m2sup;
    Matrix_t<double> m2inf(1,1);
    m2.inf = m2inf;
    m2.sup<<8.;
    m2.inf<<7.;

    Matrix_t<double> MA1sup(6,6);
    MA1.sup = MA1sup;
    Matrix_t<double> MA1inf(6,6);
    MA1.inf = MA1inf;

    Matrix_t<double> MA2sup(6,1);
    MA2.sup = MA2sup;
    Matrix_t<double> MA2inf(6,1);
    MA2.inf = MA2inf;
    //m1.inf(6,2);
    cout<<m1.sup(0,0)<<endl;
    cout<<m1.inf(0,0)<<endl;

    //m1.inf(0,0) = 100.;
    //cout<<m1.inf(0,0)<<endl;
    cout<<"eadadad"<<endl;

    double nmd = k*Sqrt(2*g)/Sqrt(1.)/Sqrt(1.)/Sqrt(1.)/4.;
    cout<<nmd<<endl;*/

//}

